CN104742845B - Dynamic early warning system for automobile rear-end collision preventing - Google Patents
Dynamic early warning system for automobile rear-end collision preventing Download PDFInfo
- Publication number
- CN104742845B CN104742845B CN201510121475.0A CN201510121475A CN104742845B CN 104742845 B CN104742845 B CN 104742845B CN 201510121475 A CN201510121475 A CN 201510121475A CN 104742845 B CN104742845 B CN 104742845B
- Authority
- CN
- China
- Prior art keywords
- automobile
- spacing
- warning system
- speed
- penalty coefficient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a dynamic early warning system for automobile rear-end collision preventing. The dynamic early warning system comprises a cloud sensor, millimeter wave radar, GPS navigators, automobile distance determining modules, anti-collision monitoring modules and communication modules. The millimeter wave radar and the GPS navigators are installed on automobiles, the automobile distance determining modules are connected with microcontrollers of the GPS navigators and used for determining the actual automobile distance between the automobile and the front automobile, the anti-collision monitoring modules are used for giving out an anti-collision alarming triggering signal when the actual automobile distance is smaller than the preset first safety distance, the communication modules are used for sending the geographical location information and the actual automobile distance to the cloud server, and the cloud server is used for sending a second anti-collision prompting signal to the automobile and the automobiles around the automobile when the actual automobile distance sent by one automobile is smaller than the preset second safety distance. The dynamic early warning system has the advantages of being accurate in monitoring, low in achievement cost, convenient to use, practical and the like.
Description
Technical field
The present invention relates to field of automobile safety, more particularly, to a kind of dynamic early-warning system of automobile anti-rear end collision.
Background technology
As automobile comes into huge numbers of families, automobile quantity also cumulative year after year.According to statistics, rear-end impact accident is automobile in height
Major accident form on fast highway.Show according to the research of Daimler-Benz, if driver can be before collision occurs
Obtain early warning within 0.5 second, be just avoided that 50% collision accident；If obtaining early warning before 1 second, 90% collision thing can be avoided
Therefore.Therefore, Warning Device of Preventing Rear End Collision for Motor Vehicle is developed, before rear-end impact occurs driver alert was given, reminded
Driver takes braking or the measure such as lane-change, prevents from from car knocking into the back front truck, for ride safety of automobile is improved, reduces rear-end collision
Generation, have great importance.
At present, the injury that many modes are had taken up on automobile to prevent or reduce the car accident that knocks into the back to cause.For example,
Bumper is installed additional in automobile front and back, for the passive protection mode such as driver and occupant's equipment safety band and air bag.This
Outward, developing rapidly with electronic sensor technology and computer technology, some automobile vendors are proposed one after another active tail-end collision prevention
Device.
Such as, the General Motors Corporation in the U.S. and the Toyota of Japan and Honda Motors Co. are by the anti-control system that knocks into the back
Research enter from the scientific research stage obtained on commodity production stage, and this system Commercial Vehicle abroad well should
With serving very big effect in automobile initiative secure context.But these devices are often relatively costly, great majority are only logical
Cross the mode of early warning and auxiliary braking to prevent the generation of rear-end collision, and it is relatively costly, therefore it is used only in some high-end cars
In type, not yet popularized.
And for example, Chinese patent CN201220592520.7 proposes to disclose a kind of preventing car from close trailing collision control device, wraps
Herba Plantaginis radar, single-chip microcomputer, buzzer, braking motor and safe translator are included, Herba Plantaginis radar is connected with the input of single-chip microcomputer, honeybee
Ring device, braking motor and safe translator are connected respectively with the outfan of single-chip microcomputer, by when two following distances are nearer to driving
Member's early warning is simultaneously actively slowed down, distance closer to when apply active force to seat belt and lock it, so as to effectively reduce the thing that knocks into the back
Therefore generation, and the injury to occupant is effectively reduced when collision occurs.Although the technical scheme is simple, merely by car
Front radar judges to produce warning to driver with leading vehicle distance, has no and considers the factors such as itself speed, place environment, therefore
Popularization and application are difficult in practice.
The content of the invention
The present invention proposes a kind of dynamic early-warning system of automobile anti-rear end collision, and each automobile is networked using Cloud Server, by
The distance between each Autonomous test oneself of every automobile and front truck, are carried out to the position relationship of each automobile by Cloud Server with spacing
Comprehensive intelligent monitoring, play it is anti-knock into the back, the early warning purpose of anticollision.
Accurately determined and the distance between front truck using millimetre-wave radar on the premise of itself speed is considered, using vapour
On car widely used GPS navigator meet it is pre-conditioned it is lower alarm signal is sent to driver, so as to avoid as far as possible
Generation rear-ended car accident.
The present invention adopts the following technical scheme that realization：A kind of dynamic early-warning system of automobile anti-rear end collision, it includes：Cloud service
Device；Each automobile is respectively mounted millimetre-wave radar and GPS navigator, and the outfan of the millimetre-wave radar is electrical connected the GPS
Navigator；The spacing determining module being connected with the microcontroller in the GPS navigator, the spacing determining module is used for described
The range measurement data of millimetre-wave radar carry out process and obtain preliminary spacing d0, and according to provided by the GPS navigator from
Body speed v0To the preliminary spacing d0Dynamic compensation is carried out, so that it is determined that itself actual spacing d and front truck between；Respectively with
The connected anticollision monitoring module of the spacing determining module and the microcontroller, the anticollision monitoring module is used for according to the reality
Border spacing d carries out anticollision monitoring, and collision-proof alarm triggering letter is sent when the actual spacing d is less than default first safe distance
Number, the GPS navigator is triggered according to the collision-proof alarm trigger by the microcontroller and reports default first anticollision
Cue；Connect the communication module of the GPS navigator and the Cloud Server, for obtain the GPS navigator
Geographical location information and the actual spacing d are sent to the Cloud Server；The Cloud Server is used for according to each automobile
The geographical location information for passing judges the position relationship between automobile, and as the described actual spacing d of a certain automobile transmission
During less than default second safe distance, to the automobile and its periphery automobile the second anticollision cue is sent.
Wherein, the spacing determining module includes connected vehicle distance data processing unit and spacing compensating unit；The car
Away from continuous n time range measurement data D that data processing unit is used to export the millimetre-wave radar1、D2、…、Dn-1And Dn
Average computation is weighted, calculated preliminary spacing d is exported0, and according to the variation tendency calculating side of range measurement data
To function J (n)；The spacing compensating unit is used for the speed-penalty coefficient correspondence table for pre-building, and from the speed-benefit
Repay and table look-up in coefficient correspondence table corresponding itself speed v of acquisition0Penalty coefficient γ, and using following equation " at the beginning of actual spacing d=
Step spacing d0* (1+ directivity functions J (n) * penalty coefficient γ) " actual spacing d is calculated；N is preset value and for positive integer.
Wherein, the formula of calculated direction function J (n) is：If (Dn+Dn-1)>(Dn-2+Dn-3), then J (n)=1；If (Dn
+Dn-1)=(Dn-2+Dn-3), then J (n)=0；If (Dn+Dn-1) ＜ (Dn-2+Dn-3), then J (n)=- 1.
Wherein, n is 6～12 integer.
Wherein, the microcontroller is the ARM chips with usb communication port, and the outfan of the millimetre-wave radar leads to
Cross the usb communication port that usb circuit connects the microcontroller.
Wherein, the speed-penalty coefficient correspondence table for pre-building includes：Determine step-length l of vehicle speed range, and work as car
Determine penalty coefficient γ=0 during speed=0, and from the beginning of speed=0, each vehicle speed range is determined with step-length l；Determine successively
I-th vehicle speed range ((i-1) * l, i*l] corresponding penalty coefficient γi, wherein, l and i are positive integer.
Wherein, it is described determine i-th vehicle speed range ((i-1) * l, i*l] corresponding penalty coefficient γiIncluding：At i-th
Vehicle speed range ((i-1) * l, i*l] in random selected k different test vehicle velocity Vk, in each test vehicle velocity VkUnder make test vapour
Car and front truck are kept at a distance and H and make both of which at the uniform velocity be advanced with the test speed, test the range error of the millimetre-wave radar
W, withCalculate this test vehicle velocity VkCorresponding preliminary coefficient gamma 'k；
According to formulaCalculate i-th vehicle speed range ((i-1) * l, i*l] penalty coefficient
γi；
Wherein, k=1,2 ..., m, m are the natural number more than 2.
Compared with prior art, the present invention has the advantages that：
One aspect of the present invention carries out dynamic compensation to spacing detection, on the other hand using Cloud Server to each automobile networking
Intelligent monitoring is carried out, the accuracy of anti-early warning of knocking into the back not only is improved, moreover it is possible to anti-the comprehensive of early warning of knocking into the back is improved.In addition, this
Bright simple structure, cost of implementation are relatively low, extensively can realize with the collocation of the GPS navigator of various brands and structure, it is easy to use and
It is practical.
Description of the drawings
Fig. 1 is the connection diagram of each automobile and Cloud Server；
Fig. 2 is the structured flowchart of the dynamic early-warning system of automobile anti-rear end collision proposed by the present invention；
Fig. 3 is the schematic flow sheet of the dynamic early-warning system of automobile anti-rear end collision proposed by the present invention.
Specific embodiment
The present invention proposes a kind of dynamic early-warning system of automobile anti-rear end collision, and millimeter is utilized on the premise of itself speed is considered
The distance between the accurate measure of ripple radar and front truck, are meeting pre-conditioned using widely used GPS navigator on automobile
Under send alarm signal to driver, and the geographical location information using GPS navigator is judged and one by Cloud Server
Surrounding's automobile of automobile position, sends out early warning information and notifies that the driver of surrounding automobile notes driving, so as to avoid occurring as far as possible
Rear-ended car accident.
As shown in figure 1, each automobile 2 carries out information exchange by communication and Cloud Server 1.
With reference to shown in Fig. 2, the dynamic early-warning system of automobile anti-rear end collision proposed by the present invention includes：Cloud Server 1；At each
GPS navigator 4 is installed inside automobile 2, the GPS navigator 4 have microprocessor 41, GPS module 42 and with the cloud service
Device 1 carry out telecommunication communication module 43 (such as, communication module 43 be 3G communication modules, 4G communication modules, etc.)；At each
Be installed on detection and the millimetre-wave radar 3 of leading vehicle distance on the headstock of automobile 2, the outfan of the millimetre-wave radar 3 with it is described
Microcontroller 41 is electrical connected in GPS navigator 4；The spacing determining module 5 being connected with the microcontroller 41, the spacing determines
Module 5 obtains preliminary spacing d for carrying out process to the range measurement data of the millimetre-wave radar 30, and according to by described
Itself speed v that GPS navigator 4 is provided0Dynamic compensation is carried out to the preliminary spacing, so that it is determined that itself is and front truck between
Actual spacing d；The anticollision monitoring module 6 being connected with the spacing determining module 5 and the microcontroller 41 respectively, the anticollision prison
Control module 6 is used to send collision-proof alarm trigger when the actual spacing d is less than default first safe distance, by described
Microcontroller 41 triggers the GPS navigator 4 and reports default first anticollision prompting letter according to the collision-proof alarm trigger
Number, reach anticollision purpose so as to remind driver to make correct driver behavior to avoid knocking into the back；The communication module
The described actual spacing d that 43 geographical location information for exporting GPS module 42 and the spacing determining module 5 are exported is sent to institute
State Cloud Server 1；The Cloud Server 1 judges the position between automobile using the geographical location information that each automobile 2 is uploaded
Relation is put, when the described actual spacing d that a certain automobile sends is less than default second safe distance, to the automobile and its week
Side automobile sends the second anticollision cue, and each automobile to be received and carry out language by respective GPS module after the second anticollision cue
Yan Bo responds with prompting driver.
Wherein, it is contemplated that communicating between each automobile 2 and Cloud Server 1 needs elapsed time, and automobile with a high speed
Motion, therefore second safe distance can be set more than second safe distance.The first anticollision cue is similar to
Such as " being less than 50 meters with front spacing, ask slow down ", the second anticollision cue is similar as " front truck/rear car may subtract
Speed, it is noted that ", etc..
In addition, itself speed v0It is a given data that GSP navigators 2 can be obtained, GSP navigators 2 can be passed through
Obtained according to geographical positional information calculation, it is also possible to which the vehicle speed sensor detection according to installing on automobile is obtained, or other are existing
Technological means are obtained, and here is no longer described in detail.Furthermore, communication module 43 can not be a composition of GPS navigator 2
Part, but communication module 43 is directly connected with GPS navigator 2 and realizes communication function, it is normal that this is those skilled in the art know
Know, here is no longer described in detail.
In a preferred embodiment, microcontroller 41 is the ARM chips with usb communication port, the millimeter wave thunder
Outfan up to 3 is connected to the usb communication port of microcontroller 41 by usb circuit (being not drawn in figure).
In a preferred embodiment, the spacing determining module 5 includes connected vehicle distance data processing unit 51 and car
Away from compensating unit 52.
After the range measurement data that the microcontroller 41 receives the millimetre-wave radar 3, at the vehicle distance data
Unit 51 is managed by the range finding of default continuous n time (consider data accuracy and calculate the time, preset n time and be preferred equal to 6-12 time)
Result data D1、D2、…、Dn-1And DnAverage computation is weighted, calculated preliminary spacing d is exported0, and the preliminary car
Away from d0Near spacing compensating unit 52.Also, the vehicle distance data processing unit 51 is according to continuous n range measurement data D1、
D2、…、Dn-1And DnCalculated direction function J (n) simultaneously sends result of calculation to the spacing compensating unit 52：
If 1. (Dn+Dn-1)>(Dn-2+Dn-3), then J (n)=1.
If 2. (Dn+Dn-1)=(Dn-2+Dn-3), then J (n)=0.
If 3. (Dn+Dn-1) ＜ (Dn-2+Dn-3), then J (n)=- 1.
Above-mentioned directivity function J (n) considers the relative distance dynamic change trend between two cars, according to the dynamic of relative distance
State variation tendency is determining towards the positive direction or negative sense carries out dynamic compensation to the preliminary spacing：In order to prevent single one-shot measurement from tying
The inaccuracy of fruit, therefore the application is to take continuous 2 test results to consider as an entirety, if a newest entirety is surveyed
Test result is (i.e.：Dn+Dn-1) than an adjacent upper integrated testability result (i.e.：Dn-2+Dn-3) big, then illustrate now itself vapour
Car slows down or front truck accelerates, and spacing between the two has expansion trend, then towards the positive direction to the preliminary spacing d0Enter Mobile state
Compensation；If a newest integrated testability result is (i.e.：Dn+Dn-1) than an adjacent upper integrated testability result (i.e.：Dn-2+
Dn-3) little, then illustrating that now itself automobile accelerates or front truck slows down, spacing between the two has diminution trend, then towards negative sense
To the preliminary spacing d0Carry out dynamic compensation；If (Dn+Dn-1)=(Dn-2+Dn-3), represent that two automobiles keep permanent distance at the uniform velocity
Motion, now without the need for the preliminary spacing d0Compensate.
Furthermore, it is contemplated that itself speed v of automobile0And possibly dynamic change from front vehicle speed different, consequently, it is possible to
Actual range of the millimetre-wave radar 3 in range finding every time between two cars is caused all to be different；And the preliminary spacing is only
That average computation gained is weighted to continuous repeatedly range measurement data, result of calculation may be between two cars it is actual away from
From there is larger error, therefore the present invention is in itself speed v for considering automobile0On the basis of, by the spacing compensating unit 52
Dynamic compensation is carried out to the preliminary spacing, so that it is determined that itself accurate actual spacing d and front truck between.
In the spacing compensating unit 52, previously according to empirical value or actual test value, speed-compensation system is pre-build
Number correspondence table, in the speed-penalty coefficient correspondence table corresponding penalty coefficient γ during different vehicle speed ranges is included.The spacing
Compensating unit 52 is according to itself speed v0Table look-up in default speed-penalty coefficient correspondence table and obtain corresponding penalty coefficient
γ, using following equation actual spacing d is calculated：
The preliminary spacing d of actual spacing d=0* (1+ directivity functions J (n) * penalty coefficient γ).Wherein, * represents multiplication.
Wherein, the step of pre-building speed-penalty coefficient correspondence table is as follows：(1) the step-length l (ratio of vehicle speed range is determined
Such as, l=5 kilometer/hour), and penalty coefficient γ=0 is determined when speed=0, and from the beginning of speed=0, with a step
Long l determines a vehicle speed range；(2) determine successively i-th vehicle speed range ((i-1) * l, i*l] (test speed and be more than (i-
1) * l and less than or equal to i*l) in penalty coefficient γi.Wherein, l and i is positive integer.
Wherein it is determined that i-th vehicle speed range ((i-1) * l, i*l] penalty coefficient γiIncluding step：
A, i-th vehicle speed range ((i-1) * l, i*l] in random selected k different test vehicle velocity Vk, in each survey
Examination vehicle velocity VkUnder make test automobile and front truck keep one to determine apart from H and make both of which at the uniform velocity advance with the test speed, test
Range error W of the millimetre-wave radar, withCalculate this test vehicle velocity VkCorresponding preliminary coefficient gamma 'k；B, calculating i-th
The corresponding penalty coefficient γ of each speed in individual vehicle speed rangeiWeighted mean computing formula be：
Wherein, VkThe test speed in the vehicle speed range is represented, the test vehicle velocity VkCorresponding preliminary coefficient gamma 'k, k=1,
2 ..., m, m are, more than 2 natural numbers, to represent the m test speed selected in the vehicle speed range.
Such as, respectively testing vehicle velocity V in a vehicle speed range1、V2And V3Tested, difference is calculated just
Step coefficient gamma1’、γ2' and γ3', then the corresponding penalty coefficient γ=(V of each speed in the vehicle speed range1*γ’1+V2*γ’2+V3*
γ’2)/(V1+V2+V3)。
Different speeds in same vehicle speed range, are same penalty coefficient γ.Therefore, count to improve compensation
The accuracy of calculation, as far as possible using less step-length l.
In addition, the present invention is for simplied system structure and cost of implementation, existing GPS navigator 4 is made full use of, when described anti-
Hit when monitoring module 6 monitors the actual spacing d less than default safe distance and send collision-proof alarm trigger, by described
Microcontroller 41 triggers the GPS navigator 4 and reports default anticollision cue according to the collision-proof alarm trigger, from
And remind driver to make correct driver behavior to avoid knocking into the back to reach anticollision purpose.
It should be strongly noted that heretofore described spacing determining module 5 and the anticollision monitoring module 6 can be by
Computer programming language is realizing, and a part for the control program as the microcontroller 41.
It is corresponding with reference to shown in Fig. 3, the invention also discloses a kind of automobile anti-rear end collision method based on millimetre-wave radar,
The method comprises the steps：
Step S1, obtained by the millimetre-wave radar 3 and give the GPS navigator with the range measurement Data Concurrent of front truck
4 microcontroller 41.The range measurement data include default continuous n time (in view of data accuracy and calculating time, default n
It is secondary to be preferred equal to 6-12 time) range measurement data D1、D2、…、Dn-1And Dn。
Step S2, by the vehicle distance data processing unit 51 being connected with the microcontroller 41 by it is described preset continuous n
Secondary range measurement data D1、D2、…、Dn-1And DnAverage computation is weighted, calculated preliminary spacing d is exported0, and root
According to continuous n range measurement data D1、D2、…、Dn-1And DnCalculated direction function J (n).
Step S3, by the spacing compensating unit 52 being connected with the microcontroller 41 according to itself speed v0Default
Speed-penalty coefficient correspondence table in table look-up the corresponding penalty coefficient γ of acquisition, calculate actual spacing d using following equation：It is real
The preliminary spacing d of border spacing d=0* (1+ directivity functions J (n) * penalty coefficient γ).Wherein, * represents multiplication.
Step S4, the anticollision monitoring module 6 carry out anticollision monitoring according to the actual spacing d, as the actual spacing d
Collision-proof alarm trigger is sent during less than default safe distance, the GPS navigator 4 is triggered by the microcontroller 41 and is broadcast
Default anticollision cue is reported, so as to remind driver to make correct driver behavior to avoid knocking into the back anticollision is reached
Purpose.
The geographical position that step S5, each automobile are exported respective GPS module 42 by respective communication module 43
Information and the described actual spacing d of the respective output of spacing determining module 5 are sent to the Cloud Server 1.
Step S6, the Cloud Server 1 are judged between automobile using the geographical location information that each automobile 2 is uploaded
Position relationship, when the described actual spacing d that a certain automobile sends is less than default second safe distance, to the automobile and its
Periphery automobile sends the second anticollision cue, and each automobile is received to be carried out after the second anticollision cue by respective GPS module
Language is rich to respond with prompting driver.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (6)
1. the dynamic early-warning system of a kind of automobile anti-rear end collision, it is characterised in that include：
Cloud Server；
Each automobile is respectively mounted millimetre-wave radar and GPS navigator, and the outfan of the millimetre-wave radar is electrical connected the GPS
Navigator；
The spacing determining module being connected with the microcontroller in the GPS navigator, the spacing determining module is used for the milli
The range measurement data of metre wave radar carry out process and obtain preliminary spacing d0, and according to provided by the GPS navigator itself
Speed v0To the preliminary spacing d0Dynamic compensation is carried out, so that it is determined that itself actual spacing d and front truck between；
The anticollision monitoring module being connected with the spacing determining module and the microcontroller respectively, the anticollision monitoring module is used for
Anticollision monitoring is carried out according to the actual spacing d, when the actual spacing d is less than default first safe distance anticollision is sent
Warning trigger signal, triggers the GPS navigator report default by the microcontroller according to the collision-proof alarm trigger
The first anticollision cue；
Connect the communication module of the GPS navigator and the Cloud Server, for the geographical position for obtaining the GPS navigator
Confidence ceases and the actual spacing d is sent to the Cloud Server；
The Cloud Server is used for the position relationship that the geographical location information is judged between automobile uploaded according to each automobile,
And when the described actual spacing d that a certain automobile sends is less than default second safe distance, to the automobile and its periphery vapour
Car sends the second anticollision cue；
Wherein, the spacing determining module includes connected vehicle distance data processing unit and spacing compensating unit；The spacing number
According to continuous n time range measurement data D that processing unit is used to export the millimetre-wave radar1、D2、…、Dn-1And DnCarry out
Weighted average calculation, exports calculated preliminary spacing d0, and according to the variation tendency calculated direction letter of range measurement data
Number J (n)；The spacing compensating unit is used for the speed-penalty coefficient correspondence table for pre-building, and from the speed-compensation system
Table look-up in number correspondence table and obtain corresponding itself speed v0Penalty coefficient γ, and using following equation " the preliminary car of actual spacing d=
Away from d0* (1+ directivity functions J (n) * penalty coefficient γ) " actual spacing d is calculated；N is preset value and for positive integer.
2. a kind of dynamic early-warning system of automobile anti-rear end collision according to claim 1, it is characterised in that the calculated direction letter
Number J (n) formula be：
If (Dn+Dn-1)>(Dn-2+Dn-3), then J (n)=1；
If (Dn+Dn-1)=(Dn-2+Dn-3), then J (n)=0；
If (Dn+Dn-1) ＜ (Dn-2+Dn-3), then J (n)=- 1.
3. the dynamic early-warning system of a kind of automobile anti-rear end collision according to claim 1, it is characterised in that n be 6～12 it is whole
Number.
4. the dynamic early-warning system of a kind of automobile anti-rear end collision according to claim 1, it is characterised in that the microcontroller is
ARM chips with usb communication port, the outfan of the millimetre-wave radar connects the microcontroller by usb circuit
The usb communication port of device.
5. the dynamic early-warning system of a kind of automobile anti-rear end collision according to claim 1, it is characterised in that described to pre-build
Speed-penalty coefficient correspondence table includes：
Determine step-length l of vehicle speed range, and penalty coefficient γ=0 is determined when speed=0, and from the beginning of speed=0, with described
Step-length l determines each vehicle speed range；
Determine successively i-th vehicle speed range ((i-1) * l, i*l] corresponding penalty coefficient γi, wherein, l and i are positive integer.
6. a kind of dynamic early-warning system of automobile anti-rear end collision according to claim 5, it is characterised in that i-th of the determination
Vehicle speed range ((i-1) * l, i*l] corresponding penalty coefficient γiIncluding：
I-th vehicle speed range ((i-1) * l, i*l] in random selected k different test vehicle velocity Vk, in each test vehicle velocity Vk
Under make test automobile and front truck keep at a distance H and to make both of which at the uniform velocity advance with the test speed, test the millimetre-wave radar
Range error W, withCalculate this test vehicle velocity VkCorresponding preliminary coefficient gamma 'k；
According to formulaCalculate i-th vehicle speed range ((i-1) * l, i*l] penalty coefficient
γi；
Wherein, k=1,2 ..., m, m are the natural number more than 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510121475.0A CN104742845B (en) | 2015-03-18 | 2015-03-18 | Dynamic early warning system for automobile rear-end collision preventing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510121475.0A CN104742845B (en) | 2015-03-18 | 2015-03-18 | Dynamic early warning system for automobile rear-end collision preventing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104742845A CN104742845A (en) | 2015-07-01 |
| CN104742845B true CN104742845B (en) | 2017-04-12 |
Family
ID=53583298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510121475.0A Active CN104742845B (en) | 2015-03-18 | 2015-03-18 | Dynamic early warning system for automobile rear-end collision preventing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104742845B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105825710A (en) * | 2016-01-26 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Alarm method and alarm device for vehicles |
| CN105835774A (en) * | 2016-06-08 | 2016-08-10 | 成都谷辘信息技术有限公司 | Vehicle collision warning system based on GPS (Global Position System) |
| CN105922934A (en) * | 2016-06-08 | 2016-09-07 | 成都谷辘信息技术有限公司 | Vehicle anti-collision early-warning device based on GPS |
| CN106183986A (en) * | 2016-09-12 | 2016-12-07 | 北海和思科技有限公司 | A kind of intelligent driving safety system and method |
| CN106954184A (en) * | 2017-03-22 | 2017-07-14 | 惠州Tcl移动通信有限公司 | Method, cloud server and the mobile unit of vehicle-to-vehicle distance measurement |
| CN107591024B (en) * | 2017-08-26 | 2020-11-24 | 圣码智能科技（深圳）有限公司 | Vehicle anti-collision method |
| CN108819942B (en) * | 2018-06-06 | 2020-12-15 | 北京汽车股份有限公司 | Vehicle distance control method and system |
| CN108860045B (en) * | 2018-06-28 | 2021-08-17 | 深圳奥尼电子股份有限公司 | Driving support method, driving support device, and storage medium |
| CN108859963A (en) * | 2018-06-28 | 2018-11-23 | 深圳奥尼电子股份有限公司 | Multifunctional driving assistance method, multifunctional driving assistance device, and storage medium |
| CN108657099A (en) * | 2018-06-30 | 2018-10-16 | 中山市君晟电子科技有限公司 | A kind of anti-collision system for automobile |
| CN110955233A (en) * | 2018-09-25 | 2020-04-03 | 上海云绅智能科技有限公司 | Robot anti-collision method, robot and anti-collision system |
| CN110356323A (en) * | 2019-08-12 | 2019-10-22 | 珠海骏驰科技有限公司 | A kind of active safety intelligent driving system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201877000U (en) * | 2010-12-07 | 2011-06-22 | 沈阳理工大学 | Safe interval pre-warning device |
| CN102457570A (en) * | 2011-08-10 | 2012-05-16 | 上海启索信息技术有限公司 | Intelligent vehicle-mounted communication informatization system and communication method based on 3-generation (3G) technology and cloud system |
| CN103198716B (en) * | 2013-04-08 | 2015-06-03 | 北京汽车研究总院有限公司 | Pre-warning system for preventing tailgating of rear vehicle |
| CN103640540A (en) * | 2013-12-06 | 2014-03-19 | 镇江市星禾物联科技有限公司 | GPS-based intelligent pre-warning system for hybrid power automobile |
| CN103634402A (en) * | 2013-12-09 | 2014-03-12 | 赵生捷 | Intelligent vehicular safeguard system |
| CN104299453A (en) * | 2014-11-11 | 2015-01-21 | 东莞市钜大电子有限公司 | Safety driving system of vehicle |
-
2015
- 2015-03-18 CN CN201510121475.0A patent/CN104742845B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104742845A (en) | 2015-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104742845B (en) | Dynamic early warning system for automobile rear-end collision preventing | |
| CN104732805B (en) | A kind of dynamic early-warning method of automobile anti-rear end collision | |
| US9355319B2 (en) | System and method for detecting road surface conditions | |
| US8731742B2 (en) | Target vehicle movement classification | |
| McHenry | Computer program for reconstruction of highway accidents | |
| CN105109490B (en) | Method for judging sharp turn of vehicle based on three-axis acceleration sensor | |
| CN101407199A (en) | Vehicle collision prewarning method and apparatus | |
| CN101293503A (en) | Anti-collision control method for vehicle and anti-collision warning device for vehicle | |
| CN202753856U (en) | Vehicle crash-proof warning device | |
| CN203410402U (en) | Automobile intelligent protecting system | |
| CN108608942A (en) | A kind of automobile anti-rear end collision method and early warning system | |
| CN108482365A (en) | A kind of vehicle flat tire transient state vehicle body emergency flight control system and method | |
| CN113640017A (en) | Test evaluation system and method for automatic emergency braking system of commercial vehicle | |
| CN102745199A (en) | System and method for calculating an instantaneous fuel economy for a vehicle | |
| EP3891512B1 (en) | System and method for providing an indication of driving performance | |
| US20230117709A1 (en) | Dynamic calculation method and device of electric vehicle mass | |
| CN104786928B (en) | Rear-end collision preventing system based on millimetre-wave radar | |
| CN106864461A (en) | A kind of method that vehicle movement behavior is judged based on acceleration transducer | |
| CN106184200A (en) | A kind of collision proof means for automobiles and method | |
| CN208101834U (en) | A kind of car tailstock anti-collision automatic identification equipment | |
| CN208376737U (en) | A kind of vehicle flat tire transient state vehicle body emergency flight control system | |
| CN109581387A (en) | A kind of vehicle-mounted distance-finding system base and method | |
| CN203011507U (en) | Vehicle weigher | |
| CN103900670A (en) | Vehicle balance and measurement method thereof | |
| CN109050527A (en) | vehicle collision detecting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200508 Address after: 233000 Yannan Road, Bengbu High-tech Zone, Anhui Province (1st Floor, 1st Floor, Terminal Science Park, High-tech Zone) Patentee after: Bengbu Anzhi Intellectual Property Operations Co., Ltd. Address before: 528100 Guangdong Province, Foshan City Sanshui District southwest Street No. 16 North Road, one of the 202 self Jianlibao Patentee before: FOSHAN ZHIHAI XINGKONG TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200921 Address after: 201799 room 510-523, Lai Gang Road, Qingpu District, Shanghai, 510-523. Patentee after: Weimar Automobile Technology Group Co.,Ltd. Address before: 233000 Yannan Road, Bengbu High-tech Zone, Anhui Province (1st Floor, 1st Floor, Terminal Science Park, High-tech Zone) Patentee before: Bengbu Anzhi Intellectual Property Operations Co.,Ltd. |
|
| TR01 | Transfer of patent right |